EP0726447B1 - Incremental route calculation - Google Patents

Incremental route calculation Download PDF

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Publication number
EP0726447B1
EP0726447B1 EP96300873A EP96300873A EP0726447B1 EP 0726447 B1 EP0726447 B1 EP 0726447B1 EP 96300873 A EP96300873 A EP 96300873A EP 96300873 A EP96300873 A EP 96300873A EP 0726447 B1 EP0726447 B1 EP 0726447B1
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EP
European Patent Office
Prior art keywords
route
intermediate destination
road
destination
cost
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP96300873A
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German (de)
English (en)
French (fr)
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EP0726447A1 (en
Inventor
Jeff J. Liaw
Simon P: Desai
Haruhisa Tamai
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Visteon Technologies LLC
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Visteon Technologies LLC
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Publication of EP0726447A1 publication Critical patent/EP0726447A1/en
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes

Definitions

  • the present invention relates to the determination of routes by a vehicle navigation system. More specifically, the invention provides a method of determining an intermediate route to a user's final destination where the determination of the entire route takes longer than a given interval of time. In this way, the user may begin driving before the entire route to the final destination has been determined.
  • EP 0 485 120 and GB 2271423 disclose vehicle navigation system in which portions of an optimum route are presented to a vehicle operator sequentially.
  • the present invention provides a way in which an intermediate route may be determined to a location between the initial starting or source location and the final destination.
  • the user of a vehicle navigation system generally requires only enough information to get to a nearby highway in order to begin driving.
  • a method of determiriing a route from a source location to a final destination using a vehicle navigation system having a map database comprising the steps of:
  • the roads in the map database are organized hierarchically, each road having a hierarchy level associated therewith.
  • the source location corresponds to a source road of a first hierarchy level.
  • the intermediate destination candidates are determined in the following manner. Possible routes from a first road segment connected to the source location are explored until a connecting road is encountered having a second hierarchy level higher than the first. The access point to the connecting road is then designated as a intermediate destination candidate. This is repeated for each of the road segments extending from the source location.
  • each intermediate route includes at least one node and at least one road segment which are stored in the map database, and which connect the source location with the intermediate destination candidate corresponding to that intermediate route.
  • Each node in the map database has an associated node cost
  • each road segment in the map database has an associated segment cost.
  • the cost value for an intermediate destination candidate is calculated as follows. The segment and node costs for the road segments and nodes in the intermediate route are combined, thereby generating a route cost for the intermediate route. A heuristic cost for the intermediate destination candidate associated with the intermediate route is then determined. The heuristic cost corresponds to the distance between the intermediate destination candidate and the final destination.
  • a segment cost corresponds to an estimate of a time interval required for traversing a road segment
  • a node cost corresponds to an estimate of a time interval required for traversing a node
  • a first distance corresponds to a substantially straight-line distance between a first intermediate destination candidate and the final destination.
  • the present invention waits until the expiration of a timeout period before selecting a best intermediate destination. This is so that if the entire route to the final destination is determined before the end of the timeout period, and communication of an intermediate route therefore becomes unnecessary, the communication of the entire route may begin instead.
  • the system determines another intermediate destination candidate between the first intermediate destination candidate and the final destination. Initially, at least one next intermediate destination candidate is determined from the map database. As with the previously described embodiment, if more than one next intermediate destination candidate is found, a cost value is calculated for each, the next intermediate destination candidate with the lowest cost value being selected as the best next intermediate destination.
  • next intermediate route corresponding to the best next intermediate destination is then communicated to the user. This process may be repeated until the remainder of the entire route has been determined. In a specific embodiment, each intermediate route is fully determined and communicated to the user only when the determination of the remainder of the entire route requires more than a programmable timeout interval.
  • the present invention relates generally to commonly assigned United States Patents No. 5,345,382 to Kao for CALIBRATION METHOD FOR A RELATIVE HEADING SENSOR, and No. 5,359,529 to Snider for ROUTE GUIDANCE ON/OFF-ROUTE STATE FILTER, and commonly assigned, copending United States patent applications for POSITION CORRECTION METHOD FOR VEHICLE NAVIGATION SYSTEM, Serial No. 08/000,950 filed on January 5, 1993, METHOD FOR SELECTING A DESTINATION IN A VEHICLE NAVIGATION SYSTEM, Serial No.
  • Fig. 1 is a block diagram of a specific embodiment of a vehicle navigation system 10 for use with the present invention.
  • Sensors 12 and 14 and GPS receiver 18 are coupled to computing means 20 through sensor/GPS interface 22.
  • mileage sensor 12 comprises an odometer
  • angular velocity sensor 14 comprises a gyroscope, or a differential odometer coupled to the wheels of the vehicle.
  • a global positioning system (GPS) data receiver 18 is provided for receiving signals from, for example, a satellite-based navigation system. Data from sensor/GPS interface 22 is transmitted to CPU 24, which performs calibration, signal processing, dead-reckoning, vehicle positioning, and route guidance functions.
  • GPS global positioning system
  • a database containing map information may be stored in database medium 26, with software directing the operation of computing means 20 stored in main memory 28 for execution by CPU 24.
  • Memory 28 may comprise read-only memory (ROM), or reprogrammable non-volatile memory such as flash memory or SRAM.
  • System RAM 30 permits reading and writing of the information necessary to execute such software programs.
  • Database medium 26 may comprise non-volatile memory, a hard disk drive, CD-ROM, or an integrated circuit in which digitized map information has been stored.
  • Output controller 32 which may comprise a graphics controller, receives data processed by CPU 24 and transmits the data to display console 40 which includes output communicator 34, usually comprising a display screen. The user may input data, such as a desired destination, through user interface 36, typically comprising a keyboard.
  • the map database stored in database medium 26 preferably comprises positional data such as, for example, latitude and longitude coordinates, to describe road intersections or nodes, road segments, landmarks and points of interest, and other geographical information.
  • the data base may further comprise data representing characteristics of roads or places on the map, such as road and place names, road features such as dividers, one-way restrictions, surface, speed limit, shape, elevation, and other properties.
  • the map database includes cost values associated with individual nodes and road segments. These cost values correspond to the estimates of time intervals for traversing the respective node or segment. Node cost values take into consideration such information as, for example, whether the vehicle would encounter oncoming traffic, thus delaying a left turn maneuver.
  • Segment costs reflect road segment characteristics such as speed limit and segment length, both of which affect the travel time along the segment.
  • a hierarchy value which relates to the category or type of the road. For example, the highest level category of the hierarchy includes freeways and expressways. The lowest level includes residential streets and/or alleys.
  • vehicle navigation system 10 employs a two-ended route calculation algorithm. That is, system 10 explores paths emanating from point A and paths leading backwards from point B. Initially, the search patterns emanate from both points A and B in all directions.
  • Fig. 2 illustrates how one of four road segments emanating from point A is chosen for continued route exploration.
  • Each road segment, n has an associated segment cost, g(n), and each node, k, has associated node and heuristic costs, g(k) and h(k), respectively.
  • the segment cost for each segment is added to the node and heuristic costs for its endpoint to obtain an overall cost value for each.
  • the road segment having the lowest overall cost is then selected for further calculation.
  • the road segment terminating at point D is selected primarily because the heuristic cost associated with point D, i.e., the distance between points D and B, is less than the heuristic costs associated with points C, E, and F.
  • This process is then repeated for point D, and each newly calculated route point thereafter. It should be noted that the heuristic cost for each new possible route point is calculated based on the distance between the possible route point and the last determined route point at the other end of the search.
  • the present invention avoids these delays by selecting an intermediate destination close to the initial source location, calculating a route to the intermediate location, and communicating the intermediate route while continuing to determine the route to the final destination. But how does the system know when to use this feature?
  • the feature may be selected based on parameters such as the known relationship between the initial source location and the final destination and their geographical surroundings, e.g., both locations are in densely digitized urban areas separated by a sparsely digitized rural or highway area.
  • intermediate destinations are always determined, but a best intermediate destination is not chosen and the intermediate route is not communicated to the user unless the determination of the entire route takes longer than a programmable timeout period. This embodiment will be discussed in greater detail below. The method by which the present invention selects an intermediate destination is described with reference to Fig. 3.
  • Fig. 3 shows a source location at point A and a final destination at point B.
  • Point A generally represents the stationary starting position of the vehicle. However, if route calculation is performed while the vehicle is moving, point A may be chosen at a position ahead of the current vehicle position. Parameters such as the vehicle's direction and speed may be taken into account for the determination of the source location in such a situation.
  • Four possible intermediate routes 201, 203, 205, and 207 are shown from point A to four different intermediate destinations 202, 204, 206, and 208, respectively.
  • the intermediate destinations in this example are access points to highways 210 and 212. Highway access points are often chosen as intermediate destinations because they are easily identifiable, and the forward route calculation from the highway access point becomes simplified for the reasons discussed above. Essentially, the intersection with any road which is of a higher category than the road of the source location may be selected as a possible intermediate destination.
  • the navigation system explores several possible paths in the map database emanating from point A during a timeout interval, after the expiration of which, the best candidate for the intermediate destination is chosen.
  • the timeout interval may be a multilevel interval. That is, the interval may be programmed to expire after 10 seconds if 3 or more candidates are found, and after 20 seconds if only one or two are found.
  • the figure shows a situation in which four candidates for an intermediate destination have been found, i.e., highway access points 202, 204, 206, and 208.
  • the system calculates an overall cost f(dest) for each possible intermediate destination by combining all of the segment and node costs, i.e., g(n) and g(k), for the route leading to that destination with the heuristic cost associated with that destination, i.e., h(dest).
  • f(dest) the overall cost for each possible intermediate destination by combining all of the segment and node costs, i.e., g(n) and g(k), for the route leading to that destination with the heuristic cost associated with that destination, i.e., h(dest).
  • the relationship appears as follows: It will be understood that there are a number of different ways in which these values could be combined, or in which cost values may be assigned to derive an overall cost value for each intermediate route. The present invention is not limited to the specific embodiment described.
  • Another method for selecting an intermediate destination is provided by the present invention.
  • the user is presented with a list of highways and highway access points within 10 miles of the source location. The user may then select the desired highway and/or specific access point. This feature may be useful where, for example, the user knows that she needs to access a certain highway but requires route calculation to get to that highway from her current location.
  • the appropriate series of maneuvers are communicated to the user via the system display.
  • These generally comprise a series of screens, each of which communicates information regarding the next maneuver to be performed by the user like, for example, the distance to the next maneuver, or the nature of the next maneuver (e.g., left turn).
  • the system is providing the user with this information, the remainder of the route to the final destination and the corresponding maneuvers are determined using the intermediate destination as the starting point. In this way, navigation is allowed to begin before the entire route is determined, thereby allowing the user to begin driving almost immediately.
  • the vehicle navigation system may be programmed to wait until the expiration of a timeout period before selecting an intermediate destination. If the entire route to the final destination is determined within the timeout period, then the communication of an intermediate route is considered unnecessary and the intermediate destination is not selected. If, however, the entire route to the final destination is not complete before the expiration of the timeout interval, the system selects an intermediate destination and operates as described above. If the entire route is still not complete before the expiration of another timeout interval, the system may be programmed to determine another intermediate destination beyond the first intermediate destination. The selection of the next intermediate destination proceeds similarly to the selection of the first as described above. This process may be repeated until the remainder of the entire route has been determined.
  • the system may be programmed to begin determining the next intermediate destination immediately if it is determined that the calculation of the route to the final destination is not yet complete.
  • the system may be programmed so that each successive intermediate route is fully determined and the corresponding maneuvers communicated to the user only when the determination of the remainder of the entire route is not yet complete or requires more than a programmable timeout interval.
  • the intermediate location is a highway access point
  • the maneuver onto the highway can be communicated to the user with a follow up instruction such as, for example, "Stay on the highway - Calculating the rest of the route". How then does the system know which direction of travel on the highway to communicate?
  • the direction of travel is deduced based on the direction from the highway access point to the final destination.
  • a first intermediate destination 301 is chosen before either of the access points 302 or 303 as shown in Fig. 4 so that either highway direction may be selected. In the mean time, another intermediate destination beyond the first intermediate destination, the route to which will be known by the time the first intermediate destination is reached.
  • Another solution to the problem of arriving at the first intermediate destination relates to the determination of further intermediate destinations.
  • the system may be programmed to determine another intermediate destination beyond the first intermediate destination.
  • the selection of the next intermediate destination proceeds similarly to the selection of the first as described above. This process may be repeated until the remainder of the entire route has been determined.
  • each intermediate route is fully determined and the corresponding maneuvers communicated to the user only when the determination of the remainder of the entire route requires more than a programmable timeout interval.
  • Fig. 5 is a flowchart 500 which describes the operation of a specific embodiment of the invention.
  • the system receives a destination input by a user for the purpose of calculating a route to the destination (step 502).
  • the system then begins to determine the route from the vehicle's current position to the desired destination while simultaneously determining at least one intermediate destination (step 504).
  • the system determines a cost value for each intermediate destination (step 506). If a programmable time interval passes and the determination of the entire route from the initial position to the final destination is not complete (step 508), the system selects the intermediate destination having the lowest cost value as the best intermediate destination (step 510) and communicates the intermediate route to the user (step 512).
  • the system then continues to determine a route to the final destination from the intermediate destination (step 514). If, on the other hand, the determination of the entire route is complete, the entire route is communicated to the user (step 516).
  • step 518 determines another group of intermediate destinations between the first intermediate destination and the final destination (step 520) and determines a cost values for each (step 522). If the route calculation is not complete after a second programmable time interval (step 524), the system again selects the intermediate destination with the lowest cost value (step 526) and communicates the next intermediate route to the user (step 528). Steps 518-528 may be repeated until the remainder route to the final destination has been determined, at which point it is communicated to the user (step 530).
  • Fig. 6 is a flowchart 600 describing the selection of a plurality of intermediate routes according to a specific embodiment of the invention.
  • the system explores possible routes emanating from one of the road segments directly connected to the vehicle's original position until a connecting road is encountered having a hierarchy level greater than the hierarchy level of the original position's road (step 602).
  • the system then designates the access point to the connecting road as one of the intermediate destinations (step 604). Steps 602 and 604 are then repeated for each of the road segments emanating from the original position (step 606).
  • Fig. 7 is a flowchart 700 describing the determination of cost values for a plurality of intermediate destinations according to a specific embodiment of the invention.
  • the system combines the segment and node costs for the road segments and nodes in one of the intermediate routes emanating from the vehicle's initial position, thereby generating a route cost for that intermediate route (step 702).
  • the system determines a heuristic cost for the intermediate destination associated with the intermediate route (step 704).
  • the heuristic cost corresponds to the distance between the intermediate destination and the final destination.
  • the system then combines the route cost with the heuristic cost and generates a cost value for the intermediate destination (step 706). Steps 702-706 are then repeated for each of the intermediate destinations (step 708).

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)
  • Instructional Devices (AREA)
  • Information Retrieval, Db Structures And Fs Structures Therefor (AREA)
EP96300873A 1995-02-09 1996-02-09 Incremental route calculation Expired - Lifetime EP0726447B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US08/385,611 US5712788A (en) 1995-02-09 1995-02-09 Incremental route calculation
US385611 1999-08-30

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EP0726447A1 EP0726447A1 (en) 1996-08-14
EP0726447B1 true EP0726447B1 (en) 2002-11-06

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US (1) US5712788A (ja)
EP (1) EP0726447B1 (ja)
JP (1) JP3408908B2 (ja)
KR (1) KR100281293B1 (ja)
CA (1) CA2167636C (ja)
DE (1) DE69624601D1 (ja)

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KR960032261A (ko) 1996-09-17
CA2167636A1 (en) 1996-08-10
JPH08261783A (ja) 1996-10-11
DE69624601D1 (de) 2002-12-12
EP0726447A1 (en) 1996-08-14
US5712788A (en) 1998-01-27
CA2167636C (en) 2000-10-10
JP3408908B2 (ja) 2003-05-19
KR100281293B1 (ko) 2001-02-01

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